Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics

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概要

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• In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorporated into the controller design. Furthermore, a collision avoidance component is added in the kinematic controller in order to guarantee a collision free coverage of the area. The convergence of the network to the optimal sensing configuration is proven with a Lyapunov-type analysis. Numerical simulations are provided approving the effectiveness of the proposed method through several experimental scenarios.

著者

• DIRAFZOON Alireza

  Faculty of Electrical Engineering, Amirkabir University of Technology

• MENHAJ Mohammad

  Faculty of Electrical Engineering, Amirkabir University of Technology

• AFSHAR Ahmad

  Faculty of Electrical Engineering, Amirkabir University of Technology

関連論文

• Decentralized Coverage Control for Multi-Agent Systems with Nonlinear Dynamics

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